相关论文: Extrinsic Contact Sensing with Relative-Motion Tra…

Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…

Achieving high spatial resolution in contact sensing for robotic manipulation often comes at the price of increased complexity in fabrication and integration. One traditional approach is to fabricate a large number of taxels, each…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

Inertial parameters characterise an object's motion under applied forces, and can provide strong priors for planning and control of robotic actions to manipulate the object. However, these parameters are not available a-priori in situations…

Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…

Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information has driven the use of machine learning algorithms to convert…

Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…

Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…

The task of "relative placement" is to predict the placement of one object in relation to another, e.g. placing a mug onto a mug rack. Through explicit object-centric geometric reasoning, recent methods for relative placement have made…

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…

Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…

This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…

Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as…

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…

In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered…

We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…